version: 66.07
glider: 542
mission: 6
dive: 30
start: 12 14 112 14 33 23
data:
$ID,542
$MISSION,6
$DIVE,30
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52816
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10366.594
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.034508
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,141212,142135,-4649.979,359.385,24,1.2,25,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-22.0
$GPS2,141212,143225,-4649.933,359.490,18,0.7,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.056,0.290
$KALMAN_X,-19796.7,645.1,747.9,-3773.1,-7144.9
$KALMAN_Y,12478.6,176.9,35.0,-10210.3,-3799.5
$MHEAD_RNG_PITCHd_Wd,34.2,36922,-14.9,-10.010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.64,-194.7,0.0,0.0,0,175,0.00,0.00,-141.95,0.000,2,0.000,0.000,64,2948,3301,0,0,0,0,0,0
$GC,181,-0.64,-194.7,3.5,-3.9,18,200,6.53,2.33,-7.15,0.000,4,0.249,0.054,1660,1508,3617,0,0,0,0,0,0
$GC,302,-0.64,-194.7,23.1,-6.4,35,310,0.00,2.33,0.00,0.000,6,0.000,0.057,1651,2909,3618,0,0,0,0,0,0
$GC,388,-0.64,-194.7,34.0,-14.4,48,397,0.00,1.62,0.00,0.000,4,0.000,0.063,1643,3903,3618,0,0,0,0,0,0
$GC,451,-0.64,-194.7,44.2,-15.7,57,457,0.00,1.55,0.00,0.000,6,0.000,0.037,1643,2909,3618,0,0,0,0,0,0
$GC,693,-0.64,-194.7,75.5,-9.9,98,700,0.00,2.12,0.00,0.000,4,0.000,0.044,1643,1531,3619,0,0,0,0,0,0
$GC,765,-0.64,-194.7,82.3,-9.4,110,773,0.10,2.28,0.00,0.000,6,0.190,0.057,1656,2934,3618,0,0,0,0,0,0
$GC,1112,-0.64,-194.7,117.1,-9.9,150,1116,0.00,2.20,0.00,0.000,4,0.000,0.042,1656,1523,3619,0,0,0,0,0,0
$GC,1144,-0.64,-194.7,120.5,-10.1,152,1148,0.00,2.28,0.00,0.000,6,0.000,0.057,1648,2931,3619,0,0,0,0,0,0
$GC,1473,-0.64,-194.7,157.1,-11.6,173,1477,0.00,2.17,0.00,0.000,4,0.000,0.043,1647,1530,3619,0,0,0,0,0,0
$GC,1496,-0.64,-194.7,160.3,-11.7,174,1505,0.00,2.25,0.00,0.000,6,0.000,0.057,1636,2912,3619,0,0,0,0,0,0
$GC,1819,-0.64,-194.7,198.9,-12.1,195,1823,0.00,2.15,0.00,0.000,4,0.000,0.043,1637,1525,3619,0,0,0,0,0,0
$GC,1871,-0.64,-194.7,205.3,-10.9,198,1876,0.12,2.25,0.00,0.000,6,0.181,0.057,1658,2924,3619,0,0,0,0,0,0
$GC,2197,-0.64,-194.7,235.8,-9.6,218,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,1658,2924,3619,0,0,0,0,0,0
$GC,2514,-0.64,-194.7,264.8,-9.0,236,2518,0.00,2.15,0.00,0.000,4,0.000,0.043,1658,1528,3619,0,0,0,0,0,0
$GC,2567,-0.64,-194.7,269.5,-7.7,238,2571,0.00,2.25,0.00,0.000,6,0.000,0.058,1650,2929,3619,0,0,0,0,0,0
$GC,2891,-0.64,-194.7,300.7,-9.9,254,2895,0.00,2.12,0.00,0.000,4,0.000,0.043,1649,1529,3619,0,0,0,0,0,0
$GC,2913,-0.64,-194.7,302.8,-10.3,255,2917,0.00,2.25,0.00,0.000,6,0.000,0.057,1639,2934,3619,0,0,0,0,0,0
$GC,3244,-0.64,-194.7,337.7,-10.7,271,3248,0.00,2.15,0.00,0.000,4,0.000,0.043,1639,1529,3619,0,0,0,0,0,0
$GC,3285,-0.64,-194.7,342.1,-9.4,272,3294,0.08,2.25,0.00,0.000,6,0.164,0.058,1654,2919,3619,0,0,0,0,0,0
$GC,3604,-0.64,-194.7,368.5,-8.3,288,3608,0.00,2.12,0.00,0.000,4,0.000,0.044,1654,1524,3619,0,0,0,0,0,0
$GC,3639,-0.64,-194.7,371.6,-7.5,289,3646,0.00,2.25,0.00,0.000,6,0.000,0.058,1646,2935,3619,0,0,0,0,0,0
$GC,3960,-0.64,-194.7,398.5,-8.7,305,3964,0.00,2.17,0.00,0.000,4,0.000,0.043,1646,1524,3619,0,0,0,0,0,0
$GC,3993,-0.64,-194.7,401.4,-8.9,307,3997,0.00,2.25,0.00,0.000,6,0.000,0.058,1635,2932,3619,0,0,0,0,0,0
$GC,4331,-0.64,-194.7,434.1,-9.8,318,4335,0.00,1.52,0.00,0.000,4,0.000,0.066,1628,3893,3618,0,0,0,0,0,0
$GC,4349,-0.64,-194.7,436.1,-9.9,318,4354,0.08,1.48,0.00,0.000,6,0.155,0.040,1653,2932,3618,0,0,0,0,0,0
$GC,4676,-0.64,-194.7,461.9,-7.9,329,4680,0.00,2.15,0.00,0.000,4,0.000,0.044,1653,1517,3618,0,0,0,0,0,0
$GC,4723,-0.64,-194.7,465.8,-7.8,330,4727,0.00,2.25,0.00,0.000,6,0.000,0.059,1644,2922,3618,0,0,0,0,0,0
$GC,5044,-0.64,-194.7,492.9,-8.7,341,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2922,3618,0,0,0,0,0,0
$GC,5350,-0.64,-194.7,519.4,-8.8,351,5354,0.00,2.15,0.00,0.000,4,0.000,0.044,1644,1521,3618,0,0,0,0,0,0
$GC,5391,-0.64,-194.7,523.0,-7.9,352,5395,0.00,2.22,0.00,0.000,6,0.000,0.059,1634,2922,3618,0,0,0,0,0,0
$GC,5729,-0.64,-194.7,555.3,-9.9,363,5733,0.00,2.12,0.00,0.000,4,0.000,0.044,1634,1524,3618,0,0,0,0,0,0
$GC,5752,-0.64,-194.7,557.9,-10.1,363,5760,0.12,2.22,0.00,0.000,6,0.185,0.058,1656,2923,3618,0,0,0,0,0,0
$GC,6068,-0.64,-194.7,582.8,-7.9,374,6072,0.00,2.15,0.00,0.000,4,0.000,0.044,1656,1519,3618,0,0,0,0,0,0
$GC,6098,-0.64,-194.7,585.3,-8.1,374,6104,0.00,2.25,0.00,0.000,6,0.000,0.060,1648,2928,3617,0,0,0,0,0,0
$GC,6413,-0.64,-194.7,611.4,-8.5,385,6417,0.00,2.15,0.00,0.000,4,0.000,0.043,1648,1524,3617,0,0,0,0,0,0
$GC,6448,-0.64,-194.7,614.5,-8.1,386,6452,0.00,2.25,0.00,0.000,6,0.000,0.059,1638,2933,3617,0,0,0,0,0,0
$GC,6781,-0.64,-194.7,643.7,-8.6,397,6785,0.00,2.17,0.00,0.000,4,0.000,0.044,1638,1520,3617,0,0,0,0,0,0
$GC,6815,-0.64,-194.7,646.9,-8.2,398,6820,0.12,2.25,0.00,0.000,6,0.185,0.060,1659,2928,3617,0,0,0,0,0,0
$GC,7149,-0.64,-194.7,669.0,-6.6,409,7153,0.00,2.17,0.00,0.000,4,0.000,0.044,1659,1517,3617,0,0,0,0,0,0
$GC,7189,-0.64,-194.7,671.8,-6.5,410,7193,0.00,2.25,0.00,0.000,6,0.000,0.060,1652,2924,3617,0,0,0,0,0,0
$GC,7516,-0.64,-194.7,697.7,-8.6,421,7520,0.00,2.15,0.00,0.000,4,0.000,0.044,1651,1524,3617,0,0,0,0,0,0
$GC,7551,-0.64,-194.7,700.8,-8.4,422,7555,0.00,2.25,0.00,0.000,6,0.000,0.060,1642,2934,3617,0,0,0,0,0,0
$GC,7884,-0.64,-194.7,731.3,-9.3,433,7888,0.00,2.17,0.00,0.000,4,0.000,0.044,1642,1519,3617,0,0,0,0,0,0
$GC,7930,-0.64,-194.7,735.7,-9.0,434,7934,0.00,2.25,0.00,0.000,6,0.000,0.060,1633,2928,3617,0,0,0,0,0,0
$GC,8251,-0.64,-194.7,766.9,-9.7,445,8255,0.00,2.15,0.00,0.000,4,0.000,0.044,1633,1517,3617,0,0,0,0,0,0
$GC,8292,-0.64,-194.7,770.8,-9.1,446,8297,0.15,2.25,0.00,0.000,6,0.178,0.060,1662,2924,3617,0,0,0,0,0,0
$GC,8619,-0.64,-194.7,792.7,-6.5,457,8623,0.00,2.15,0.00,0.000,4,0.000,0.045,1663,1522,3617,0,0,0,0,0,0
$GC,8660,-0.64,-194.7,795.6,-6.8,458,8664,0.00,2.25,0.00,0.000,6,0.000,0.060,1654,2932,3617,0,0,0,0,0,0
$GC,8987,-0.64,-194.7,819.6,-7.6,469,8991,0.00,2.17,0.00,0.000,4,0.000,0.044,1654,1517,3617,0,0,0,0,0,0
$GC,9033,-0.64,-194.7,823.4,-8.0,470,9038,0.00,2.25,0.00,0.000,6,0.000,0.060,1645,2922,3616,0,0,0,0,0,0
$GC,9354,-0.64,-194.7,850.4,-8.6,481,9358,0.00,2.15,0.00,0.000,4,0.000,0.044,1645,1522,3616,0,0,0,0,0,0
$GC,9390,-0.64,-194.7,853.7,-8.2,482,9394,0.00,2.25,0.00,0.000,6,0.000,0.060,1636,2932,3616,0,0,0,0,0,0
$GC,9722,-0.64,-194.7,883.4,-8.9,493,9726,0.00,2.17,0.00,0.000,4,0.000,0.044,1635,1517,3616,0,0,0,0,0,0
$GC,9757,-0.64,-194.7,886.7,-8.9,494,9762,0.12,2.25,0.00,0.000,6,0.181,0.060,1658,2924,3616,0,0,0,0,0,0
$GC,10090,-0.64,-194.7,910.7,-7.4,505,10094,0.00,2.12,0.00,0.000,4,0.000,0.044,1658,1521,3616,0,0,0,0,0,0
$GC,10125,-0.64,-194.7,913.6,-7.2,506,10130,0.00,2.25,0.00,0.000,6,0.000,0.060,1652,2931,3616,0,0,0,0,0,0
$STATE,10453,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10453,begin apogee
$GC,10464,-0.19,0.0,938.4,7.6,517,10668,0.50,0.00,195.52,1.169,6,0.151,0.000,1805,2730,2820,0,0,0,0,1,0
$STATE,10670,end apogee,CONTROL_FINISHED_OK
$STATE,10670,begin climb
$GC,10675,0.64,194.7,946.0,0.0,524,10881,0.77,2.55,193.02,1.784,4,0.069,0.053,2091,1339,2028,0,0,0,0,1,0
$GC,10984,0.64,194.7,881.0,25.3,533,10988,0.00,2.45,0.00,0.000,6,0.000,0.056,2091,2733,2024,0,0,0,0,0,0
$GC,11305,0.64,194.7,786.8,29.3,544,11309,0.00,2.33,0.00,0.000,4,0.000,0.053,2102,1337,2020,0,0,0,0,0,0
$GC,11351,0.64,194.7,773.7,25.9,545,11355,0.00,2.35,0.00,0.000,6,0.000,0.057,2102,2734,2019,0,0,0,0,0,0
$GC,11677,0.64,194.7,678.3,29.7,556,11681,0.00,2.33,0.00,0.000,4,0.000,0.054,2112,1337,2019,0,0,0,0,0,0
$GC,11723,0.64,194.7,664.9,27.1,557,11728,0.15,2.33,0.00,0.000,6,0.248,0.057,2082,2746,2018,0,0,0,0,0,0
$GC,12045,0.64,194.7,579.1,26.5,568,12049,0.00,2.30,0.00,0.000,4,0.000,0.054,2091,1328,2018,0,0,0,0,0,0
$GC,12110,0.64,194.7,562.7,23.7,570,12114,0.00,2.33,0.00,0.000,6,0.000,0.057,2091,2743,2017,0,0,0,0,0,0
$GC,12455,0.64,194.7,468.9,27.4,581,12459,0.00,2.25,0.00,0.000,4,0.000,0.053,2101,1340,2018,0,0,0,0,0,0
$GC,12512,0.64,194.7,452.7,25.1,582,12519,0.00,2.28,0.00,0.000,6,0.000,0.058,2101,2734,2017,0,0,0,0,0,0
$GC,12831,0.64,194.7,365.0,27.9,595,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2734,2017,0,0,0,0,0,0
$GC,13138,0.64,194.7,280.8,26.9,610,13142,0.00,2.25,0.00,0.000,4,0.000,0.054,2111,1329,2017,0,0,0,0,0,0
$GC,13162,0.64,194.7,273.7,27.6,611,13167,0.15,2.30,0.00,0.000,6,0.249,0.058,2080,2743,2017,0,0,0,0,0,0
$GC,13502,0.64,194.7,193.5,23.3,631,13506,0.00,2.25,0.00,0.000,4,0.000,0.053,2089,1337,2017,0,0,0,0,0,0
$GC,13542,0.64,194.7,182.2,22.6,633,13549,0.00,2.25,0.00,0.000,6,0.000,0.057,2089,2735,2017,0,0,0,0,0,0
$GC,13864,0.64,194.7,104.8,23.8,654,13868,0.00,2.20,0.00,0.000,4,0.000,0.053,2099,1340,2017,0,0,0,0,0,0
$GC,13901,0.64,194.7,95.9,23.8,657,13907,0.00,2.28,0.00,0.000,6,0.000,0.057,2099,2733,2017,0,0,0,0,0,0
$GC,14268,0.64,194.7,11.4,24.2,718,14277,0.00,2.25,0.00,0.000,4,0.000,0.051,2110,1334,2017,0,0,0,0,0,0
$STATE,14297,end climb,SURFACE_DEPTH_REACHED
$STATE,14297,begin surface coast
$FINISH,0.4,1.026549
$STATE,14311,end surface coast,CONTROL_FINISHED_OK
$STATE,14311,begin surface
$SM_CCo,14336,164.27,0.795,1,0,516,564.18
$SM_GC,0.76,0.00,0.00,164.27,0.000,0.000,0.795,61,2946,516,-5.65,0.65,564.18
$IRIDIUM_FIX,-4635.50,359.53,141212,101053
$TT8_MAMPS,0.026215
$HUMID,55.78
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.0,7.664
$10V_AH,10.1,3.126
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.625,158.675,388.550,164.275,0.000,30.767,20.212,363.115,0.000,0.000,21.894,1837.584,9503.263,712.008,2378.810,714.075,33.358,1618.634,0.000,1913.085,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,65.790,1783.980,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.465,1443.638,779.080,286.552,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354280
$DATA_FILE_SIZE,53922,724
$CAP_FILE_SIZE,134264,0
$CFSIZE,259252224,226013184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,141212,183635,-4648.342,358.238,39,1.0,39,-23.3